copied body example

zoneb2/addons.make

@@ -0,0 +1 @@
+ofxAzureKinect

zoneb2/bin/data/shaders/render.frag

@@ -0,0 +1,17 @@
+#version 150
+
+// Custom attributes.
+
+in vec4 vColor;
+
+out vec4 fragColor;
+
+void main()
+{
+    if (vColor.a == 0)
+    {
+        discard;
+    }
+
+    fragColor = vColor;
+}

zoneb2/bin/data/shaders/render.vert

@@ -0,0 +1,57 @@
+#version 150
+
+// OF built-in attributes.
+
+uniform mat4 modelViewProjectionMatrix;
+
+// Custom attributes.
+
+#define BODY_INDEX_MAP_BACKGROUND 255
+
+const vec4[6] COLORS = vec4[]
+(
+    vec4(211 / 255.0, 248 / 255.0, 226 / 255.0, 1.0),
+    vec4(228 / 255.0, 193 / 255.0, 249 / 255.0, 1.0),
+    vec4(237 / 255.0, 231 / 255.0, 177 / 255.0, 1.0),
+    vec4(246 / 255.0, 148 / 255.0, 193 / 255.0, 1.0),
+    vec4(169 / 255.0, 222 / 255.0, 249 / 255.0, 1.0),
+    vec4(255 / 255.0, 135 / 255.0, 111 / 255.0, 1.0)
+);
+
+uniform sampler2DRect uDepthTex; // Sampler for the depth space data
+uniform sampler2DRect uBodyIndexTex; // Sampler for the body index data
+uniform sampler2DRect uWorldTex; // Transformation from kinect depth space to kinect world space
+
+uniform ivec2 uFrameSize;
+
+uniform int[6] uBodyIDs;
+
+out vec4 vColor;
+
+void main()
+{
+    vec2 texCoord = vec2(gl_InstanceID % uFrameSize.x, gl_InstanceID / uFrameSize.x);
+
+    float depth = texture(uDepthTex, texCoord).x;
+    int bodyIndex = int(texture(uBodyIndexTex, texCoord).x * 255);
+    vec4 ray = texture(uWorldTex, texCoord);
+
+    if (depth != 0 && 
+        bodyIndex != BODY_INDEX_MAP_BACKGROUND && 
+        ray.x != 0 && ray.y != 0)
+    {
+        int bodyID = uBodyIDs[bodyIndex];
+        vColor = COLORS[bodyID % 6];
+    }
+    else
+    {
+        vColor = vec4(0.0);
+    }
+
+    vec4 posWorld = vec4(1);
+    posWorld.z = depth * 65535.0; // Remap to float range.
+    posWorld.x = ray.x * posWorld.z;
+    posWorld.y = ray.y * posWorld.z;
+
+    gl_Position = modelViewProjectionMatrix * posWorld;
+}

zoneb2/config.make

@@ -0,0 +1,141 @@
+################################################################################
+# CONFIGURE PROJECT MAKEFILE (optional)
+#   This file is where we make project specific configurations.
+################################################################################
+
+################################################################################
+# OF ROOT
+#   The location of your root openFrameworks installation
+#       (default) OF_ROOT = ../../.. 
+################################################################################
+# OF_ROOT = ../../..
+
+################################################################################
+# PROJECT ROOT
+#   The location of the project - a starting place for searching for files
+#       (default) PROJECT_ROOT = . (this directory)
+#    
+################################################################################
+# PROJECT_ROOT = .
+
+################################################################################
+# PROJECT SPECIFIC CHECKS
+#   This is a project defined section to create internal makefile flags to 
+#   conditionally enable or disable the addition of various features within 
+#   this makefile.  For instance, if you want to make changes based on whether
+#   GTK is installed, one might test that here and create a variable to check. 
+################################################################################
+# None
+
+################################################################################
+# PROJECT EXTERNAL SOURCE PATHS
+#   These are fully qualified paths that are not within the PROJECT_ROOT folder.
+#   Like source folders in the PROJECT_ROOT, these paths are subject to 
+#   exlclusion via the PROJECT_EXLCUSIONS list.
+#
+#     (default) PROJECT_EXTERNAL_SOURCE_PATHS = (blank) 
+#
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_EXTERNAL_SOURCE_PATHS = 
+
+################################################################################
+# PROJECT EXCLUSIONS
+#   These makefiles assume that all folders in your current project directory 
+#   and any listed in the PROJECT_EXTERNAL_SOURCH_PATHS are are valid locations
+#   to look for source code. The any folders or files that match any of the 
+#   items in the PROJECT_EXCLUSIONS list below will be ignored.
+#
+#   Each item in the PROJECT_EXCLUSIONS list will be treated as a complete 
+#   string unless teh user adds a wildcard (%) operator to match subdirectories.
+#   GNU make only allows one wildcard for matching.  The second wildcard (%) is
+#   treated literally.
+#
+#      (default) PROJECT_EXCLUSIONS = (blank)
+#
+#		Will automatically exclude the following:
+#
+#			$(PROJECT_ROOT)/bin%
+#			$(PROJECT_ROOT)/obj%
+#			$(PROJECT_ROOT)/%.xcodeproj
+#
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_EXCLUSIONS =
+
+################################################################################
+# PROJECT LINKER FLAGS
+#	These flags will be sent to the linker when compiling the executable.
+#
+#		(default) PROJECT_LDFLAGS = -Wl,-rpath=./libs
+#
+#   Note: Leave a leading space when adding list items with the += operator
+#
+# Currently, shared libraries that are needed are copied to the 
+# $(PROJECT_ROOT)/bin/libs directory.  The following LDFLAGS tell the linker to
+# add a runtime path to search for those shared libraries, since they aren't 
+# incorporated directly into the final executable application binary.
+################################################################################
+# PROJECT_LDFLAGS=-Wl,-rpath=./libs
+
+################################################################################
+# PROJECT DEFINES
+#   Create a space-delimited list of DEFINES. The list will be converted into 
+#   CFLAGS with the "-D" flag later in the makefile.
+#
+#		(default) PROJECT_DEFINES = (blank)
+#
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_DEFINES = 
+
+################################################################################
+# PROJECT CFLAGS
+#   This is a list of fully qualified CFLAGS required when compiling for this 
+#   project.  These CFLAGS will be used IN ADDITION TO the PLATFORM_CFLAGS 
+#   defined in your platform specific core configuration files. These flags are
+#   presented to the compiler BEFORE the PROJECT_OPTIMIZATION_CFLAGS below. 
+#
+#		(default) PROJECT_CFLAGS = (blank)
+#
+#   Note: Before adding PROJECT_CFLAGS, note that the PLATFORM_CFLAGS defined in 
+#   your platform specific configuration file will be applied by default and 
+#   further flags here may not be needed.
+#
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_CFLAGS = 
+
+################################################################################
+# PROJECT OPTIMIZATION CFLAGS
+#   These are lists of CFLAGS that are target-specific.  While any flags could 
+#   be conditionally added, they are usually limited to optimization flags. 
+#   These flags are added BEFORE the PROJECT_CFLAGS.
+#
+#   PROJECT_OPTIMIZATION_CFLAGS_RELEASE flags are only applied to RELEASE targets.
+#
+#		(default) PROJECT_OPTIMIZATION_CFLAGS_RELEASE = (blank)
+#
+#   PROJECT_OPTIMIZATION_CFLAGS_DEBUG flags are only applied to DEBUG targets.
+#
+#		(default) PROJECT_OPTIMIZATION_CFLAGS_DEBUG = (blank)
+#
+#   Note: Before adding PROJECT_OPTIMIZATION_CFLAGS, please note that the 
+#   PLATFORM_OPTIMIZATION_CFLAGS defined in your platform specific configuration 
+#   file will be applied by default and further optimization flags here may not 
+#   be needed.
+#
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_OPTIMIZATION_CFLAGS_RELEASE = 
+# PROJECT_OPTIMIZATION_CFLAGS_DEBUG = 
+
+################################################################################
+# PROJECT COMPILERS
+#   Custom compilers can be set for CC and CXX
+#		(default) PROJECT_CXX = (blank)
+#		(default) PROJECT_CC = (blank)
+#   Note: Leave a leading space when adding list items with the += operator
+################################################################################
+# PROJECT_CXX = 
+# PROJECT_CC = 

zoneb2/icon.rc

@@ -0,0 +1,8 @@
+// Icon Resource Definition
+#define MAIN_ICON                       102
+
+#if defined(_DEBUG)
+MAIN_ICON               ICON                    "icon_debug.ico"
+#else
+MAIN_ICON               ICON                    "icon.ico"
+#endif

zoneb2/src/main.cpp

@@ -0,0 +1,11 @@
+#include "ofApp.h"
+
+int main()
+{
+	ofGLFWWindowSettings settings;
+	settings.setGLVersion(3, 2);
+	settings.setSize(1280, 720);
+	ofCreateWindow(settings);
+
+	ofRunApp(new ofApp());
+}

zoneb2/src/ofApp.cpp

@@ -0,0 +1,303 @@
+#include "ofApp.h"
+
+class Particle
+{
+public:
+  ofVec3f p;
+  int id;
+  Particle()
+  {
+    p = ofVec3f(ofRandom(-100, 100), ofRandom(-100, 100), ofRandom(-100, 100));
+    id = ofRandom(K4ABT_JOINT_COUNT);
+  }
+};
+
+std::vector<Particle> particles;
+
+//--------------------------------------------------------------
+void ofApp::setup()
+{
+  for (int i = 0; i < 10000; i++)
+  {
+    particles.push_back(Particle());
+  }
+
+  //ofSetLogLevel(OF_LOG_VERBOSE);
+
+  ofLogNotice(__FUNCTION__) << "Found " << ofxAzureKinect::Device::getInstalledCount() << " installed devices.";
+
+  auto deviceSettings = ofxAzureKinect::DeviceSettings();
+  deviceSettings.syncImages = false;
+  deviceSettings.depthMode = K4A_DEPTH_MODE_NFOV_UNBINNED;
+  deviceSettings.updateIr = false;
+  deviceSettings.updateColor = false;
+  //deviceSettings.colorResolution = K4A_COLOR_RESOLUTION_1080P;
+  deviceSettings.updateWorld = true;
+  deviceSettings.updateVbo = false;
+  auto bodyTrackingSettings = ofxAzureKinect::BodyTrackingSettings();
+  //bodyTrackingSettings.processingMode = K4ABT_TRACKER_PROCESSING_MODE_CPU;
+  bodyTrackingSettings.updateBodies = true;
+  if (kinectDevice.open())
+  {
+    kinectDevice.startCameras(deviceSettings, bodyTrackingSettings);
+  }
+
+  // Load shader.
+  auto shaderSettings = ofShaderSettings();
+  shaderSettings.shaderFiles[GL_VERTEX_SHADER] = "shaders/render.vert";
+  shaderSettings.shaderFiles[GL_FRAGMENT_SHADER] = "shaders/render.frag";
+  shaderSettings.intDefines["BODY_INDEX_MAP_BACKGROUND"] = K4ABT_BODY_INDEX_MAP_BACKGROUND;
+  shaderSettings.bindDefaults = true;
+  if (shader.setup(shaderSettings))
+  {
+    ofLogNotice(__FUNCTION__) << "Success loading shader!";
+  }
+
+  // Setup vbo.
+  std::vector<glm::vec3> verts(1);
+  pointsVbo.setVertexData(verts.data(), verts.size(), GL_STATIC_DRAW);
+}
+
+//--------------------------------------------------------------
+void ofApp::exit()
+{
+  kinectDevice.close();
+}
+
+//--------------------------------------------------------------
+void ofApp::update()
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::draw()
+{
+  ofBackground(0);
+
+  if (kinectDevice.isStreaming())
+  {
+    kinectDevice.getBodyIndexTex().draw(0, 0, 360, 360);
+  }
+
+  camera.begin();
+  {
+    ofPushMatrix();
+    {
+      ofRotateXDeg(180);
+
+      ofEnableDepthTest();
+
+      constexpr int kMaxBodies = 6;
+      int bodyIDs[kMaxBodies];
+      int i = 0;
+      while (i < kinectDevice.getNumBodies())
+      {
+        bodyIDs[i] = kinectDevice.getBodyIDs()[i];
+        ++i;
+      }
+      while (i < kMaxBodies)
+      {
+        bodyIDs[i] = 0;
+        ++i;
+      }
+
+      shader.begin();
+      {
+        shader.setUniformTexture("uDepthTex", kinectDevice.getDepthTex(), 1);
+        shader.setUniformTexture("uBodyIndexTex", kinectDevice.getBodyIndexTex(), 2);
+        shader.setUniformTexture("uWorldTex", kinectDevice.getDepthToWorldTex(), 3);
+        shader.setUniform2i("uFrameSize", kinectDevice.getDepthTex().getWidth(), kinectDevice.getDepthTex().getHeight());
+        shader.setUniform1iv("uBodyIDs", bodyIDs, kMaxBodies);
+
+        int numPoints = kinectDevice.getDepthTex().getWidth() * kinectDevice.getDepthTex().getHeight();
+        pointsVbo.drawInstanced(GL_POINTS, 0, 1, numPoints);
+      }
+      shader.end();
+
+      ofDisableDepthTest();
+
+      auto &bodySkeletons = kinectDevice.getBodySkeletons();
+      for (auto &skeleton : bodySkeletons)
+      {
+        // Draw joints.
+        for (int i = 0; i < K4ABT_JOINT_COUNT; ++i)
+        {
+          auto joint = skeleton.joints[i];
+          ofPushMatrix();
+          {
+            glm::mat4 transform = glm::translate(toGlm(joint.position)) * glm::toMat4(toGlm(joint.orientation));
+            ofMultMatrix(transform);
+
+            ofDrawAxis(50.0f);
+          }
+          ofPopMatrix();
+        }
+
+        // Draw connections.
+        skeletonMesh.setMode(OF_PRIMITIVE_LINES);
+        auto &vertices = skeletonMesh.getVertices();
+        vertices.resize(50);
+        int vdx = 0;
+
+        // Spine.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_NAVEL].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_NAVEL].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_CHEST].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_CHEST].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HEAD].position);
+
+        // Head.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HEAD].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EAR_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EAR_RIGHT].position);
+
+        // Left Leg.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_FOOT_LEFT].position);
+
+        // Right leg.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_FOOT_RIGHT].position);
+
+        // Left arm.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_LEFT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_LEFT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_WRIST_LEFT].position);
+
+        // Right arm.
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_RIGHT].position);
+
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_RIGHT].position);
+        vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_WRIST_RIGHT].position);
+
+        skeletonMesh.draw();
+
+        for (int i = 0; i < particles.size(); i++)
+        {
+          auto& pt = particles.at(i);
+          pt.p.interpolate(vertices[pt.id], 0.01);
+        }
+      }
+      for (int i = 0; i < particles.size(); i++)
+      {
+        ofDrawCircle(particles.at(i).p, 1);
+      }
+    }
+    ofPopMatrix();
+  }
+  camera.end();
+
+  std::ostringstream oss;
+  oss << ofToString(ofGetFrameRate(), 2) + " FPS" << std::endl;
+  oss << "Joint Smoothing: " << kinectDevice.jointSmoothing;
+  ofDrawBitmapStringHighlight(oss.str(), 10, 20);
+}
+
+//--------------------------------------------------------------
+void ofApp::keyPressed(int key)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::keyReleased(int key)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::mouseMoved(int x, int y)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::mouseDragged(int x, int y, int button)
+{
+  if (button == 1)
+  {
+    kinectDevice.jointSmoothing = ofMap(x, 0, ofGetWidth(), 0.0f, 1.0f, true);
+  }
+}
+
+//--------------------------------------------------------------
+void ofApp::mousePressed(int x, int y, int button)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::mouseReleased(int x, int y, int button)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::mouseEntered(int x, int y)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::mouseExited(int x, int y)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::windowResized(int w, int h)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::gotMessage(ofMessage msg)
+{
+}
+
+//--------------------------------------------------------------
+void ofApp::dragEvent(ofDragInfo dragInfo)
+{
+}

zoneb2/src/ofApp.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include "ofMain.h"
+
+#include "ofxAzureKinect.h"
+
+class ofApp 
+	: public ofBaseApp 
+{
+public:
+	void setup();
+	void exit();
+
+	void update();
+	void draw();
+
+	void keyPressed(int key);
+	void keyReleased(int key);
+	void mouseMoved(int x, int y);
+	void mouseDragged(int x, int y, int button);
+	void mousePressed(int x, int y, int button);
+	void mouseReleased(int x, int y, int button);
+	void mouseEntered(int x, int y);
+	void mouseExited(int x, int y);
+	void windowResized(int w, int h);
+	void dragEvent(ofDragInfo dragInfo);
+	void gotMessage(ofMessage msg);
+
+private:
+	ofxAzureKinect::Device kinectDevice;
+
+	ofEasyCam camera;
+
+	ofVbo pointsVbo;
+	ofShader shader;
+
+	ofVboMesh skeletonMesh;
+};